R E MOT E AUT ONOMOUS MAPPING OF RADIO F R E QUE NCY OBST - - PowerPoint PPT Presentation

R E MOT E AUT ONOMOUS MAPPING OF RADIO F R E QUE NCY OBST R UCT ION DE VICE S

T e am: Jo rg e n Ba e rtsc h, I

a n Co o ke , K e nne dy Ha rrma nn, Ma ry L a ndis, Sa ra h L a rso n, Ha rrisio n Ma st, E tha n Mo rg a n, Se lb y Sto ut, Ja ke Urse tta , Justin Willia ms, Sa ma ntha Willia ms

Sponsor : De nnis Ako s Advisor : Ja de Mo rto n

CDR 2

GPS Signal Strength

St Step 1: 1: Launch Launch UA UAS wi with pa payloa

• ad

St Step 2: St Start autonomous flight on pre- pl planned d pa path th St Step 3: 3: Si Simulate GP GPS de denied env environment nment

• v
• ver de

design gnate ted ar area ea St Step 5: Tr Transmit signal strength and pos positi tion

• ning m

g measurements ts to gr to grou

• und

St Step 4: Co Collect data on signal strength St Step 6: Land Land UAS and and local calize e signal nal so source at ground st statio ion

1 2 3 4 6

Operational Payload Autopilot Communication GPS Denied Payload Receiver Autopilot Communication

Gr Ground d St Station UA UAS

GPS Denied Area Signal Source

3 km km 3 km km

500 500 m

5

CONOPS

I NT E GRAT I VE T E ST I NG PROBL E MS

3

Pr

• blem

T he use of GPS jammer s is illegal T he T alon will not mesaur e fr equenc ies outside

• f the GPS band

So lutio n

Use a WiF i sig na l to simula te GPS ja mme r T he “Disc o ” UAS will b e use d to sa mple WiF i po we r o ve r the GPS de nie d a re a

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

PARROT DI SCO UAS

• Give n to te am RAMROD

by c usto me r

• Alre ady pro ve n

c apable o f sampling WiF i po we r

• Will be use d to c re ate

c o nto urplo t o f signal po we r

4

De sig n Pro je c t Manag e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

CDR 5

Dis Disco

GPS Denied Area Signal Source

500 500 m

Disco WiF i Sampling

GPS Signal Strength

CDR 6

Dis Disco

GPS Denied Area Signal Source

500 500 m

Disc o WiF i Contour Map

CDR 7

St Step 1: Launch Launch UAS with h pay ayload ad St Step 2: St Start autonomous flight on pre- pl planned d pa path th St Step 5: 5: Tr Transmit sig signal st strength and and pos positi tion

• ning meas

measur urement ements to to gr grou

• und

St Step 4: 4: Co Collect data for actual and es estimat mated ed locat cation n with h Tal alon

St Step 6: 6: La Land nd UA UAS and post pr process po position/wi wifi si signal at at gr grou

• und st

station

Operational Payload Autopilot Communication GPS Denied Payload Receiver Autopilot Communication

Gr Ground d St Station UA UAS

GPS Denied Area Signal Source

3 km km 3 km km

500 500 m

CONOPS

St Step 3: Si Simulate GPS PS denied environment

• v
• ver de

design gnated a d area

CRI T I CAL PROJE CT E L E ME NT S

8

CPE De sc r iption Re ason GPS De nie d F lig ht So ftware Maintain auto no mo us flig ht while in a simulate d GPS de nie d e nviro nme nt fo r up to 200 se c o nds at a time A PPD o r E T will c ause GPS data to be inac c urate . UAS Use the T alo n to fly in a simulate d GPS de nie d e nviro nme nt while ho using the

• pe ratio nal paylo ad made by te am

RAMROD A UAS c apable o f suppo rting the ne c e ssary se nso rs wo uld be the be st me ans o f c o ve ring the re quire d are a. Paylo ad Se lf-po we re d se nso r paylo ad that c an mo nito r, sto re and transmit RF I sig nal data while inte rfac e d with the UAS platfo rm T

• me asure the RF

so urc e all ne c e ssary se nso rs must be inte g rate d to g e the r. By c usto me r re que st the paylo ad must be c apable o f taking RF me asure me nts witho ut UAS inte g ratio n

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

L E VE L S OF SUCCE SS

Ope r ational Payload UAS Platfor m GPS De nie d F light Softwar e R F L

• c alization

L e ve l 1

• Co lle c t a nd sto re

po we r me a sure me nts fo r a full 60 minute s

• Sha ll use ma nua l flig ht

to a c hie ve a minimum to ta l flig ht time o f 60 minute s while c o nta ining the full pa ylo a d

• Auto pilo t switc he s

se a mle ssly to GPS de nie d flig ht

• Sha ll b e a b le to

e sta b lish a n RF I po we r pro file L e ve l 2

• T

ra nsmit da ta up to 4.25 km using L T E c o nne c tio n.

• Co mmunic a te

po we r da ta with PixHa wk

• Sha ll ha ve the a b ility to

fly a uto no mo usly fo r 60 minute s with GPS a c tive

• Sha ll a llo w fo r

ma inta ine d stra ig ht a nd le ve l GPS de nie d flig ht fo r 1 km

• L
• c a lize RF

I so urc e within 100 m L e ve l 3

• Sha ll ha ve the a b ility to

fly a uto no mo usly fo r 10 minute s with GPS de nie d

• Sha ll a llo w fo r turning

ma nue ve rs in GPS de nie d c o nditio ns

• Sha ll ke e p po sitio na l

e rro r le ss tha n 30m a fte r 2km o f GPS de nie d flig ht

• L
• c a lize RF

I so urc e within 40 m

9

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

DE SI GN

10

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

F UNCT I ONAL BL OCK DI AG RAM

11

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

CRI T I CAL F OR MI SSI ON SUCCE SS

12

Cr itic al Component Components Chosen R eason Component is Mission Cr itic al

F lig ht Co ntro lle r PixHa wk 2.1

• Co ntro ls a ll flig ht c ha ra c te ristic s a nd ma na g e s

a uto no mo us flig ht

• Co nta ins mo d ifie d GPS-De nie d F

lig ht Mo d e I ne rtia l Me a sure me nt Unit DMU11

• Ma in c o mpo ne nt fo r minimizing po sitio na l

e rro r in GPS-De nie d F lig ht Mo d e Sig na l F ilte r NT 1065

• Co lle c ts ra w po we r d a ta o n L

1 a nd L 2 b a nd s a nd filte rs it into usa b le d a ta fo r mic ro pro c e sso r Mic ro pro c e sso r Mic ro Ze d

• Se nd s a ll po we r a nd po sitio n d a ta to the

g ro und

• Sto re s a ll po we r d a ta
• I

nd ic a te s flig ht mo d e switc h

F lig ht Co ntro lle r (PixHa wk) I ne rtia l Me a sure me nt Unit (DMU11) Sig na l F ilte r (NT 1065) Mic ro pro c e sso r (Mic ro Ze d)

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

PAYL OAD BASE L I NE DE SI GN

13

Ba tte ry Bra c ke t Ba tte ry Mic ro pro c e sso r Sig na l F ilte r Pa ylo a d Struc ture 7.62 c m 13.2 c m 6.98 c m E the rne t Output to Ce ll Mo de m

Ke y Par ame te r Value

Size (c m) 7.62x13.21x6.98 Ma ss (g ) 450 Avg . Da ta T ra nsmissio n Ra te (Mb ps) Uplo a d: 7.64 Do wnlo a d: 6.67

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

UAS BASE L I NE DE SI GN

14

E SC Mo to r a nd Pro pe lle r T wo 7000mAh Ba tte rie s L iDAR PixHa wk F lig ht Co ntro lle r Ope ra tio na l Pa ylo a d Px4 Optic a l F lo w Ca me ra HD Ca me ra a nd Mo unt

49 c m 8.9 c m

Ke y Par ame te r Value

Wing spa n (m) 1.7 Bo dy L e ng th (m) 1.1 Pa ylo a d Ba y Dime nsio ns (c m) 49x8.9x10 Ke y Par ame te r Value F ina l CG L

• c a tio n

55 mm a ft o f le a ding e dg e F ina l Ma ss (kg ) 3.2 Ma ximum F lig ht T ime (min) 67

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

SO FT WARE BASELI NE DESI G N

FL I G HT MO DE SWI T C H

15

SO FT WARE BASELINE DESIG N

MO DIFIED AUT O PILO T

16

BASE L I NE DE SI GN CHANGE S

17

Design Change R eason for Change Impac t on Design

Optic a l flo w c a me ra a nd L iDAR no t use d fo r te sting No t c o nfide nt in la nding s. Ro ug h la nding e nviro nme nt. Othe r se nso rs use d fo r po sitio na l e stima tio ns we re suffic ie nt to minimize e rro r the re fo re the re wa s no major

effec t fro m this de sig n c ha ng e

So lid no se c o ne wa s use d fo r fina l te sting Orig ina l no se c o ne (c le a r pla stic a nd fo a m) wa s de stro ye d o n a fa ile d ta ke

• ff a tte mpt a nd 3-D printing a

re pla c e me nt wa s fa ste r tha n o rde ring a ne w c o ne Sinc e the so lid no se c o ne is o pa que , the HD c amer

a c ould no longer be used, but tha t does not effec t mission suc c ess

Ma in wing spa r wa s re pla c e d with bra ss ro d Orig ina l spa r wa s da ma g e d o n ro ug h la nding a nd a re pla c e me nt c o uld no t be o rde re d in time 20g inc re a se in fina l ma ss a nd better

str uc tur al stability of the wing.

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

T E ST OVE RVI E W

18

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

T E ST F L OW DOWN

19

L

• c a liza tio n

& Po we r Pro file

E nduranc e / Po we r Analysis Hardware Calibratio n GPS E nable d Manual GPS E nable d Auto no mo us E K F T uning GPS De nie d F lig ht Simulate d T e st SW/ HW I nte rfac e Gro und SW F lig ht F lig ht Mo de Switc h Data Do wnlink Data Charac te rizatio n Data Ac quisitio n Struc tural & Po we r

Pa yloa d Softwa r e Ha r dwa r e

Critic a l T e st

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

T E ST I NG SE T BACK S

1.

We a the r

2.

Sc he duling

3.

T e st L

• c a tio n

4.

Ha rdwa re fa ilure s

20

Main Se tbac ks for T e sting

T e sting Atte mpts Suc c e ssful F lights We athe r Delayed Har dwar e F ailur e Vehic le Cr ash Sc he dule Conflic t Suc c e ss R ate 30 5 12 5 4 4 17 %

F light T e sting Issue s

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

PAYL OAD AGC CHARACT E RI ZAT I ON T E ST S

21

T e st De sc r iptions

5 minute te sts a t 3 diffe re nt lo c a tio ns 60 min flig ht te st with b a tte ry pa c k Simula te d GPS inte rfe re nc e te st

Me tric for Suc c e ss

Ca pa b le o f running a nd sto ring da ta fo r 60 minute s Unde rsta nd the se lf-g e ne ra te d RF I

• n the UAS a nd whe n AGC da ta is unre lia b le

Syste ms Use d

Pa ylo a d Co mpo ne nts

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

Pur pose

Pro vide a c c ura te GPS-de nie d thre sho ld De fine whe n GPS is unre lia b le

AGC CHARACT E RI ZAT I ON T E ST S

Purpo se

• Unde rsta nd AGC da ta

c o lle c te d o n UAS

Se tup

• L

M Ro o m

• CUSB
• UAS

Re sults

• Ave ra g e AGC va lue o n

UAS: 10.5±0.5

22

AGC da ta fro m 5-minute T e sts in 3 diffe re nt L

• c a tio ns

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

E xpe c te d AGC va lue o n UAS Ave ra g e AGC va lue o n UAS: 10-11

AGC CHARACT E RI ZAT I ON T E ST S

23

Pur pose

• I

de ntify whe n GPS is unre lia b le

Se tup

• Wa lke d into b a se me nt o f

BE SC, simula ting unre lia b le GPS

Re sults

• Ave ra g e unre lia b le GPS

va lue : 6.5±1

• GPS c a nno t b e truste d

whe n AGC < 8 Outside b uilding Ba se me nt E xpe c te d I nte rfe re nc e

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

Mission Suc c e ss Impac t

• Cre a tio n o f po we r pro file ma p
• L
• c a liza tio n o f a n RF

I so urc e

• Re lia b le flig ht mo de switc hing
• Sa tisfie s All o f F

R/ DR 12, pa rt o f F R/ DR 10

POWE R AND E NDURANCE T E ST

Objective:

• Ve rify the U

AS is c apable o f flying fo r 60 minute s in 30 kph wind

• Co nfirm U

AS e ffic ie nc y and validate po we r mo de l Descr iption

• Static thrust te st draining the batte rie s by 85% c apac ity
• 35% thro ttle (30% use d fo r c ruise at 60 kph)

Measur ements:

• Re c o rde d using flight c o ntro lle r po we r mo dule
• Se nt o ve r te le me try and lo gge d o n gro und statio n
• Vo ltage (V), Curre nt (A), Disc harge (mAh)
• T
• tal Dischar

ge T ime (s)

24

De sig n Pro je c t Manag e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

POWE R AND E NDURANCE T E ST

25

E xpected Actual

67 minute s 72 minute s

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

POWE R AND E NDURANCE T E ST

Ver ification

• F

R 1: T he UAS shall sustain flight fo r 60 minute s

• F

R 2: T he UAS shall be c apable o f flying in 30 kph wind

• F

R 4: T he UAS shall be c apable o f flying the paylo ad

Confidence

• Capable o f sustaining flight fo r the re quire d time in re quire d

wind c o nditio ns

• Capable o f c arrying all paylo ad se nso rs

26

De sig n Pro je c t Manag e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

E K F F L I GHT T E ST I NG AND T UNI NG

Desc r iption

• F

ive 10-20 minute flig ht te sts

• I

nitia lly ma nua l c o ntro l, la te r mo ving to a uto no mo us flig ht pla ns

• Co lle c t E

K F po sitio n e stima te s witho ut GPS a ide d filte r, with GPS a ide d se nso rs

Systems Used

• UAS with a ll se nso rs (e xc e pt pa ylo a d) inte g ra te d

27

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

E K F F L I GHT T E ST I NG AND T UNI NG

Goal: Re d uc e the e stima te d p o sitio na l

e rro r thro ug h E KF tuning .

• E

KF no t g ive n G PS p o sitio n o r ve lo c ity. I MU a nd Ma g ne to me te r me a sure me nts c o rre c te d with G PS

• NE

positional er r

• r

r educ ed fr

• m 25.8

m to 0.17 m a s a re sult o f E

KF tuning

• T

ruly G PS d e nie d g ro und te sting ha s sho wn 37.4 m after

~100 sec onds Metr ic of Suc c ess: T

he p o sitio na l e rro r will d e c re a se with tuning , e ve ntua lly re sulting in und e r 40 m o f ho rizo nta l e rro r

28

NE a nd D Po sitio n e rro r fo r 5 d isc re te te sts. No te the lo g sc a le o n the y-a xis

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

GPS DE NI E D F L I GHT T E ST I NG

29

Objectives:

• Ve rify a b ility o f UAS to susta in

flig ht in GPS de nie d sta te

• Co ntinue tuning E

K F

• Ac hie ve le ve l 2 suc c e ss

Str aight and level GPS Denied flight

• 200 m line a r dista nc e

thro ug h GPS de nie d re g io n

• GPS de nie d re g io n se t using

g e o g ra phic trig g e rs

• 10 pa sse s thro ug h GPS

de nie d re g io n

Majorsystems used in testing: Metr ic for Success Data Collected

Softwar e

• Mo difie d

a uto pilo t

• F

lig ht mo de switc he s fro m GPS g uide d flig ht to ine rtia l g uide d flig ht

• E

K F inno va tio ns a nd e stima te d po sitio n

UAS

• F

ull flig ht syste m

• I

ne rtia l na vig a tio n instrume nts

• UAS ma inta ins

stra ig ht & le ve l flig ht with <40 m drift

• GPS po sitio n

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

DAT A L OOK S T OO GOOD

30

Pr

• ble m:
• Upo n inspe c tio n, po sitio na l e rro r wa s b o unde d

whe n e xpo ne ntia l e rro r wa s e xpe c te d

• <10 me te r e rro r a fte r 20 minute s

R e ason:

• E

K F wa s fully GPS-de nie d

• Ho we ve r, ine rtia l se nso rs we re b e ing c o nsta ntly

c a lib ra te d using GPS drift e stima te

R e sult:

• Auto pilo t so ftwa re re -visite d to truly de ny GPS

to a ll sta te e stima tio n

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

F L I GHT MODE SWI T CH GROUND T E ST

31

• Objec tive:
• Ve rify a b ility fo r a uto pilo t

so ftwa re to switc h fro m GPS g uide d to ine rtia l g uide d flig ht using g e o g ra phic trig g e r

• T

est Details:

• Gro und T

e st: wa lking

• Co nd uc te d o n b usine ss fie ld

a t CU

• T
• ta l o f 3 pa sse s with GPS

unc o nne c te d

• T
• ta l o f 12 pa sse s with GPS

c o nne c te d

• Ana lyze d da ta in po st

pro c e ssing

Majorsystems used in testing: Metr ic for Suc c ess Data Collec ted

Softwar e

• Mo difie d

a uto pilo t so ftwa re

• Ave ra g e e rro r

b e twe e n GPS c o nne c te d/ unc o nne c te d within 10 m

• Ma tc hing g ro wth

tre nds in po sitio na l e rro r

• E

K Fe stima te d la titude a nd lo ng itude

UAS

• PixHa wk

flig ht c o ntro lle r

• GPS

re c e ive r

• T

e stb e d fo r so ftwa re

• GPS po sitio n

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

GPS SWI T CH VE RI F I CAT I ON

32

Ove r 12 Pa sse s:

• Ave ra g e Ma x E

rro r: 37.4 m

• Ave ra g e T

ime : 103.6 s

Ove r 3 Pa sse s:

• Ave ra g e Ma x E

rro r: 30.43 m

• Ave ra g e T

ime : 111.3 s

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

Ve r ifie d

HARDWARE F AI L URE

33

Pr

• blem:
• PixHa wk flig ht c o ntro lle r fa ile d mid-flig ht

due to po we r lo ss

• Ca ta stro phic da ma g e to a irfra me

Analysis: Caused by br

• ken connector
• Co nne c to r b rie fly disc o nne c te d a nd

re c o nne c te d, c a using a syste m re b o o t

• PixHa wk c o uld no t re -a rm during flig ht

F utur e Mitigation:

• I

nspe c t ha rdwa re prio r to e ve ry flig ht

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

GPS DE NI E D F L I GHT T E ST RE SUL T S

34

F unc tional R e quir e me nt / L e ve l of Suc c e ss Validation

F R 3: T

he syste m sha ll fly a nd na vig a te in GPS d e nie d re g io n fo r line a r d ista nc e o f 1km

NOT Ve r ifie d

L e ve l 2 Suc c e ss: T

he UAS sha ll a llo w fo r ma inta ine d stra ig ht a nd le ve l GPS d e nie d flig ht fo r 1 km

NOT Ve r ifie d

L e ve l 3 Suc c e ss: T

he UAS sha ll a llo w fo r turning ma ne uve rs in GPS d e nie d c o nd itio ns a nd sha ll ke e p po sitio na l e rro r le ss tha n 40 m a fte r 2km o f GPS d e nie d flig ht

NOT Ve r ifie d

GPS De nie d flight te sting was not suc c e ssful; inc lude d in futur e te sting plan

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

GPS DE NI E D PE RF ORMANCE GROUND T E ST

35

• Objec tive:
• Ana lyze pe rfo rma nc e o f ine rtia l

se nso rs in GPS de nie d c o nditio ns

• T

est Details:

• Gro und T

e st: wa lking

• Co nduc te d o n b usine ss fie ld

a t CU

• T
• ta l o f 2 tria ls (12 pa sse s)

within a GPS de nie d re g io n

• Ana lyze d da ta in po st

pro c e ssing

Majorsystems used in testing: Metr ic for Suc c ess Data Collec ted Softwar e

• Mo difie d

auto pilo t so ftware

• E

K FE stimate d latitude and lo ng itude

UAS

• PixHawk

flig ht c o ntro lle r

• GPS

re c e ive r

• I

ne rtial se nso r pro duc e po sitio nal e rro r within 40 m

after 100 sec onds

within GPS de nie d

• GPS po sitio n

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

GPS DE NI E D PE RF ORMANCE

36

Pre dic te d E rro r: 49.98 m T ime : 100 s Ove r 12 Passe s:

• Max E

rro r: 69.02 m

• Ave rag e E

rro r: 37.4 m

• Ave rag e T

ime : 103.6 s

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

Ve r ifie d

L OCAL I ZAT I ON OVE RVI E W

37

• T

e st De tails:

• Gro und T

e st: wa lking

• Co nd uc te d o n b usine ss fie ld a t

CU

• T
• ta l o f two tria ls (12 pa sse s)
• Co lle c te d d a ta fro m Pa rro t Disc o

a nd RAMROD syste m

• Pe rfo rme d lo c a liza tio n in po st-

pro c e ssing

• F

unc tionalitie s ve r ifie d:

• Ab ility to de te c t a nd me a sure

sig na l fro m a n RF I so urc e

• Ab ility to me a sure e stima te d

po sitio n da ta fro m E K F in GPS de nie d

Major syste ms use d in te sting: Me tr ic for Suc c e ss

Softwar e

• T

a lo n flig ht so ftwa re ,

• E

stima te d po sitio n (E K F

• utput)
• L
• c a liza tio n a lg o rithm

L

• c a lize with 40 m

a c c ura c y

UAS

• F

ull flig ht syste m

• I

ne rtia l na vig a tio n instrume nts Po sitio na l e rro r < 40 m

Par r

• t

Disc o

• 2.4GHz re c e ive r

Me a sure po we r da ta o n 2.4 GHz b a nd

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

L OCAL I ZAT I ON RE SUL T S

38

L

• c alization using GPS Position Aver

age E r r

• r

6.4 m L

• c alization using E

stimated Position Aver age E r r

• r

: 8.35 m

• dBm

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

L OCAL I ZAT I ON MODE L VAL I DAT I ON

39

L

• c a liza tio n Mo de l:

RAMROD L

• c a liza tio n Re sults
• Sa mple s: 100
• T

ria ls: 30

• Ac c ur

a c y: 8.03 m

• Sa mple s: 99
• T

ria ls: 2

• Ave r

a g e Ac c ur a c y: 8.35 m

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

L

• c a liza tion with E

stima te d Position Re sults T ria l 1 9.62 m T ria l 2 7.08 m Ave r a g e 8.35 m

L OCAL I ZAT I ON T E ST RE SUL T S & POWE R PROF I L E

40

RAMROD Po we r Pro file L

• c a liza tio n te sting wa s suc c e ssful!

F unc tiona l Re quir e me nt/ L e ve l of Suc c e ss Va lida tion

F R 10: T

he RAMROD syste m sha ll g e ne ra te a po we r pro file o f the se a rc h a re a

Ve r ifie d

F R 12: T

he Ra mro d syste m sha ll me a sure a nd lo c a lize a n RF so urc e

Pa r tia lly Ve r ifie d

L e ve l 3 Suc c e ss: T

he syste m sha ll lo c a lize within 40m a c c ura c y

Pa r tia lly Ve r ifie d

• dBm

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

F UT URE T E ST I NG

1.

F ull sc ale te sting

• ve r 3km x 3km

se arc h are a

2.

T rue GPS de nie d flig ht (straig ht & le ve l)

3.

Mane uve rs in GPS De nie d

41

F unc tional Re quir e me nt/ L e ve l of Suc c e ss F utur e Validation

F R 1: T

he UAS shall sustain flig ht fo r at le ast 60 minute s Par tially Ve r ifie d

F R 3: T

he syste m shall fly and navig ate in GPS de nie d re g io n fo r line ar distanc e o f 1km NOT Ve r ifie d

L e ve l 2 Suc c e ss: T

he UAS shall have the ability to fly auto no mo usly fo r 60 minute s with GPS ac tive Par tially Ve r ifie d

L e ve l 2 Suc c e ss: Shall allo w fo r maintaine d straig ht and le ve l GPS

de nie d flig ht fo r 1 km NOT Ve r ifie d

L e ve l 3 Suc c e ss: T

he UAS shall allo w fo r turning mane uve rs in GPS de nie d c o nditio ns and shall ke e p po sitio nal e rro r le ss than 40m afte r 2 km o f GPS de nie d flig ht NOT Ve r ifie d

Age nda:

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

SYST E MS E NGI NE E RI NG

42

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

SYST E MS E NGI NE E RI NG V MODE L

43

Syste m Validatio n Syste m Ve rific atio n & De plo yme nt Subsyste m Ve rific atio n Unit/ De vic e T e sting CONOPS Syste m Re quire me nts Hig h-L e ve l De sig n De taile d De sig n

Dec omposition and Definition Pr

• jec t test and Integr

ation

Unit/ De vic e T e st Pla n Subsyste m Ve rific a tio n Pla n

(Sub syste m Ac c e pta nc e )

Syste m Ve rific atio n Plan

(Syste m Ac c e ptanc e )

Syste m Validatio n Plan Co nc e pt E xplo ratio n Ope ratio ns and Mainte nanc e

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

CONCE PT E XPL ORAT I ON

44

CONOPS Syste m Re quire me nts Hig h-L e ve l De sig n De taile d De sig n

D e c

• m

p

• s

i t i

• n

a n d D e f i n i t i

• n

Co nc e pt E xplo ratio n

Ba sic F unc tio na l Ob je c tive s:

• F

ly in GPS de nie d e nviro nme nt

• Cre a te d ne e d to de te c t whe n GPS is c ut
• L
• c a lize RF

I de vic e

• Cre a te d re q uire me nt fo r do wnlinking da ta
• One ho ur flig ht time
• Cre a te d ne e d fo r e ffic ie nt flig ht pla tfo rm

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

CONOPS & SYST E M RE QUI RE ME NT S

45

CONOPS Syste m Re quire me nts Hig h-L e ve l De sig n De taile d De sig n

Dec omposition and Definition

Co nc e pt E xplo ratio n

CONOPS was c ritic al fo r

pro je c t de finitio n

R equir ements Development:

• Re quire me nts ste mme d fro m CONOPS
• T

rade Studie s

• De rive d fro m e ac h subsyste m

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

PROJE CT DE SI GN

46

CONOPS Syste m Re quire me nts High-L e ve l De sign De taile d De sign Dec omposition and Definition Co nc e pt E xplo ratio n

Key T r ade Study: GPS De nie d Guidanc e 1. De ad Re c ko ning w/ I ne rtial Navig atio n Syste m – lig ht we ig ht, no t c o mputatio nally e xpe nsive 2. L iDAR base d L

• c alizatio n and Mapping –

e xpe nsive , c o mputatio nally e xpe nsive 3. L T E L

• c alizatio n – o nly e stimate s 2D, hig h po sitio n

e rro r

Detailed Design:

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

UNI T / DE VI CE T E ST I NG

47

Syste m Validatio n Syste m Ve rific atio n & De plo yme nt Subsyste m Ve rific atio n U nit/ De vic e T e sting Proje c t te st a nd Inte g ra tion Ope ratio ns and Mainte nanc e

Unit T e sting :

• 1. Mo to r T

e st

• 2. Static Gro und T

e st with I MU

• Ve rify the spe c ific atio ns fro m

the manufac ture r

• 3. CG Plac e me nt
• Ve rify that the CG is in the

c o rre c t lo c atio n fo r flight te sts

De sig n Pro je c t Manag e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

SUBSYST E M VE RI F I CAT I ON

48

Syste m Validatio n Syste m Ve rific atio n & De plo yme nt Subsyste m Ve rific atio n Unit/ De vic e T e sting Pr

• jec t test and Integr

ation Ope ratio ns and Mainte nanc e

UAS Ve r ific ation

• Airfra me a sse mb ly
• Ca lib ra tio n flig ht

Payload Ve r ific ation

• Do wnlink te sting
• Po we r te st

Autopilot Ve r ific ation

• Ra n so ftwa re a nd ha rdwa re te sts
• Use d ArduPilo t te sting to ve rify

so ftwa re

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

SYST E M VAL I DAT I ON

49

Syste m Va lida tio n Syste m Ve rific a tio n & De plo yme nt Sub syste m Ve rific a tio n Unit/ De vic e T e sting Proje c t te st a nd Inte g ra tion Ope ra tio ns a nd Ma inte na nc e

GPS De nie d F lig ht:

• Go a ls
• F

ly in GPS de nie d c o nditio ns fo r 2 km

• Pe rfo rm ma ne uve rs in GPS de nie d
• T

une the K a lma n F ilte r fo r o ur a irc ra ft

• Re sult
• I

nc o mple te

L

• c a liza tion:
• Go a ls
• L
• c a lize sig na l so urc e within 40 me te rs
• Re sult
• Pa rtia lly Va lida te d

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

CDR L E VE L RI SK

50

R 1

T

• o muc h no ise in the AGC da ta

R 2

T ime ta ke n to switc h flig ht mo de s is o ve r 1 se c o nd

R 3

Struc tura l da ma g e to a irfra me during ta ke o ff/ la nding

R 4

Pla ne la nds in wro ng lo c a tio n during a uto no mo us la nding s

R 5

L ine o f sig ht o f the UAS is lo st

R 6

Hig he r ra te o f e rro r due to simula tio ns b e ing inc o rre c t

R 7

T he re is no t e no ug h b a ndwidth to do wnlink the AGC da ta

Did not occur Occur r ed, no majorimpact Occur r ed, major impact

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

I SSUE S AND CHAL L E NGE S

Risks tha t we re no t tho ug ht o f during de sig n:

Weather

• Nume ro us te sts we re po stpo ne d due to we a the r (wind, sno w,

ra in, e tc .)

Availability

• T

e sting a t CU So uth Bo ulde r re q uire d two da ys no tific a tio n

• No t a b le to te st a t T

a b le Mo unta in

• Ne ve r he a rd b a c k fro m Bo ulde r Mo de l Airfie ld

F aulty par ts fr

• m manufac tur

er

• De sig n c ha ng e o f b a tte ry during pro je c t
• F

lig ht c o ntro lle r b o a rd sto ppe d wo rking

• E

le c tro nic spe e d c o ntro lle r did no t wo rk

51

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

L E SSONS L E ARNE D

• I

mpo rtanc e o f subsyste m te sting

• E

ng ine e ring de sig n pro c e ss

• Co nting e nc y planning
• E

xpe c t the little thing s to happe n

• Murphy’ s L

aw

52

De sig n Pro je c t Manag e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

PROJE CT MANAGE ME NT

53

De sig n Pro je c t Manag e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

MANAGE ME NT PROCE SS

• T

e am c o mmunic atio n is ke y to suc c e ss

• We e kly full te am me e tings 1-2 time s pe r we e k
• Co mmunic atio n via Slac k
• We e kly me e tings with c usto me r
• E

ac h subsyste m has a le ad to e nsure e ac h subsyste m me e ts all re quire me nts

• All majo r c hange s and issue s are re vie we d by e ntire te am
• Mino r c hange s o nly ne e de d subsyste m appro val
• De ad line s se t o n a we e kly basis during te am me e tings

54

Design Pro jec t Management T est Overview T est Results Systems E ngineering Overview

MANAGE ME NT SUCCE SSE S/ DI F F I CUL T I E S

55

Suc c e sse s

Pro c e ss wo rke d ve ry we ll fo r de sig n po rtio n o f the pro je c t We e kly me e ting e nsure d e ve ryo ne was aware o f the c urre nt pro je c t status

Diffic ultie s

T e am c o mmunic atio n de g rade d o ve r time L ac k o f ac c o untability fo r de adline s and tasks Co uld no t sustain so many de lays during manufac turing and te sting

L e sso ns L e arne d

T he re must be a way to ho ld te am me mbe rs ac c o untable fo r tasks Must ac tive ly e nsure that all re quire d subsyste m c o mmunic atio n o c c urs T hing s will rare ly g e t do ne whe n the y are suppo se d to

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

CDR BUDGE T VS CURRE NT BUDGE T

Subg roup F ina l Expe nse E xpe nse a t CDR Diffe re nc e

UAS 2602 2184

• $418

Paylo ad 1240 1315 + $75 Misc . Hardware 490 230

• $260

Bung e e L aunc he r 95 25

• $70

Marg in 750 +$750

T

• ta l

4427 4504 + $77

56

$573 Unde r Budg e t!

Une xpe c te d E xpe nse s

• Hardware re plac e me nts fro m c rashe s
• Additio nal Batte rie s
• L

T E se rve r

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

E ST I MAT E D T OT AL COST

57

Cost Amount

F irst Se me ste r Ho urs: 2263 $ 70,718 Spring Se me ste r Ho urs: 1913 $ 59,782 T

• tal Ho urs: 4176

$130,500 Mate rial Co st $ 4,427 Subto tal $134,927 200% Ove rhe ad $ 261,000

E stimated T

• tal

$ 395,927

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

Q UEST IO NS

58

BA C KUP SLIDES

59

F UL L SCAL E SE ARCH ARE A

1.

E xte nd RAMROD se a rc h a re a to 3km x 3km se a rc h a re a

2.

E nsure UAS is c a pa b le o f 60 minute a uto no mo us flig ht time

3.

Ve rify a uto no mo us la nding c a pa b ilitie s

4.

Ac hie ve le ve l 2 suc c e ss a nd ve rify F R 3

60

3 km km

Ta Talon

3 km km

60 Minute s

Objectives:

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

T RUE GPS DE NI E D ST RAI GHT AND L E VE L

61

Ge o g ra phic L

• c a tio n

trig g e rs switc h to GPS De nie d flig ht mo de T a lo n flie s stra ig ht fo r 200 me te rs with ine rtia l na vig a tio n Auto pilo t switc he d b a c k to GPS e na b le d sta te a nd c o mple te s flig ht pla n g uide d with GPS

1. Co ntinue tuning E K F 2. Ve rify tha t UAS c a n susta in flig ht in GPS de nie d sta te 3. Ac hie ve le ve l 2 suc c e ss

Objectives: 1km

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

MANE UVE RS I N GPS DE NI E D

62

3 km km

500 500 m 500 500 m

Ta Talon

** Pe rfo rm multiple tria ls a nd inc lude e dg e c a se s Ge o g ra phic T rig g e rs

3 km km

T r ial 2 T r ial 1

1.

E nsure UAS c a n ma ne uve r a ro und wa ypo ints in GPS de nie d sta te

2.

I nc lude multiple trials fo r pe rfo rma nc e a na lysis

3.

F ull syste m inte g ra tio n

4.

Ac hie ve le ve l 3 suc c e ss

Obje c tive s:

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

*RE F E RE NCE SL I DE S*

• No t inc lude d in pre se nta tio n, use d fo r re fe re nc e fo r

re q uire me nt ve rific a tio n

• Use the se a s a re fe re nc e fo r o ur re q uire me nts ve rific a tio n a nd

da ta c o lle c tio n!

63

F R 1: T HE UAS SHAL L SUST AI N F L I GHT F OR 60 MI NUT E S

T e st:

1.

F ly a t 40% thro ttle with ma x we ig ht

2.

E nsure UAS c a pa b le o f 60 minute flig ht

64

Ve rific a tio n

1.

Use Pixha wk da ta to ve rify 60 minute flig ht

2.

E xtra po la te da ta to a na lyze flig ht time c a pa b ilitie s

3.

Co mpa re to Po we r Mo de l fro m PDR

F R 2: UAS SHAL L BE CAPABL E OF F L YI NG I N 30K M/ HR WI NDS

T e st:

1.

F ly a t 80% thro ttle with ma x we ig ht

2.

E nsure UAS c a pa b le o f 30km/ hr flig ht spe e d fo r 60 minute s

65

Ve rific a tio n

1.

Use pixha wk da ta to a na lyze ma x spe e d a nd a ve ra g e spe e d

2.

Ana lyze thro ttle ne e de d to a c hie ve 30km/ hr susta ine d 60 minute flig ht

3.

E xtra po la te da ta a nd a na lyze pe rfo rma nc e

• Sho w thro ttle vs spe e d d a ta
• Co mpa re to flig ht mo d e l

F R 3: T HE SYST E M SHAL L F L Y AND NAVI GAT E I N GPS DE NI E D RE GI ON F OR L I NE AR DI ST ANCE OF 1K M

T e st:

1.

T RR Pla n: I nitia l GPS de nie d flig ht

66

Ve rific a tio n

1.

Qua ntify po sitio n e rro r

2.

E nsure ine rtia l drift is b e lo w 40m

3.

Pe rfo rm 5-10 re dunda nt te sts a nd a na lyze e rro r

4.

Co mpa re to sta tic I MU mo de l

F R: 4 UAS SHAL L F L Y WI T H AL L NE CE SSARY HW AND I NST RUME NT AT I ON

T e st:

1.

F ly a t 40% thro ttle with ma x we ig ht

2.

E nsure UAS c a pa b le o f 60 minute flig ht

67

Ve rific a tio n

1.

Use Pixha wk da ta to ve rify 60 minute flig ht

2.

E xtra po la te da ta to a na lyze flig ht time c a pa b ilitie s

3.

Co mpa re to Po we r Mo de l fro m PDR

FR 5: T HE UAS SHAL L ADHERE T O AL L FAA & CU REG UL AT I O NS

68

Ve rific a tio n

1.

I nsp e c tio n

F R 6: UAS SHAL L BE CAPABL E OF F L YI NG T HE PAYL OAD

T e st:

1.

Ho w do e s b a tte ry life de pe nd o n UAS we ig ht?

2.

Wha t is ma x flig ht time with full pa ylo a d we ig ht?

3.

Wha t is ma x spe e d with full pa ylo a d we ig ht (fo r 60 minute flig ht)

69

Ve rific a tio n

1.

I nspe c tio n: sho w tha t pa ylo a d fits inside UAS

2.

Sho w UAS is c a pa b le o f 60 minute flig ht a t c urre nt we ig ht (with pa ylo a d)

3.

Co mpa re to Po we r Mo de l fro m PDR

F R 7: T HE PAYL OAD SHAL L BE CAPABL E OF F UL L AUT ONOMOUS F L I GHT

T e st:

1.

Sho w pa ra me te rs fo r a uto no mo us flig ht (inc luding la unc h, la nding , a nd flig ht pa th)

2.

F ly a uto no mo usly a ro und a se rie s o f se t wa ypo ints to a na lyze the a c c ura c y o f the UAS

• n the flig ht pa th

70

Ve rific a tio n

1.

Pre se nt the a ve ra g e dista nc e to a wa ypo int tha t the UAS a c hie ve s during a uto no mo us flig ht

2.

Ana lyze e rro r

F R 8: T HE RAMROD SYST E M SHAL L SE AML E SSL Y SWI T CH F ROM GPS GUI DE D F L I GHT T O I NE RT I AL GUI DE D F L I GHT WI T HI N ONE SE COND

T e st:

1.

Gro und te st: te st switc h time a nd switc h c a pa b ilitie s

2.

Gro und te st: flig ht mo de switc h using a c tua l AGC da ta ? (da ta fro m Ako s? )

3.

F lig ht te st: te st the flig ht mo de switc h during flig ht

71

Ve rific a tio n

1.

Pre se nt g ro und te st re sults -> ve rify g ro und te st c a pa b ilitie s

2.

Pre se nt flig ht te st re sults

3.

Ve rify switc h time re sults

4.

Ana lyze e rro r

• Ave ra g e switc h time ?
• Numb e r o f fa ile d switc he s?
• SD o f da ta se ts

F R 9: T HE RAMROD SYST E M SHAL L DOWNL I NK T HRE E DE GRE E S OF F RE E DOM ,AGC AND I .F . DAT A

T e st:

1.

Do wnlink da ta a nd e nsure tha t do wnlink spe e d ma tc he s 4G L T E ne two rk c a pa b ility

72

Ve rific a tio n

1.

Pre se nt d o wnlink spe e d a nd c a pa b ility

2.

Numb e r o f d ro ppe d pa c ke ts?

F R 10: T HE RAMROD SYST E M SHAL L GE NE RAT E A POWE R PROF I L E OF T HE SE ARCH ARE A

T e st:

1.

Ga the r ACG da ta using Pa rro t disc o

2.

Ga the r po sitio n da ta using T a lo n

3.

Ge ne ra te po we r pro file

73

Ve rific a tio n

1.

Pre se nt po we r pro file

2.

Ana lyze e rro r in true po sitio n a nd e stima te po sitio n in po we r pro file

FR 11: T HE PAYL O AD SHAL L FI T I NSI DE T HE UAS

T e st:

1.

I s this o ne e ve n ne c e ssa ry?

74

F R 12: T HE RAMROD SYST E M SHAL L ME ASURE AND L OCAL I ZE AN RF SOURCE

T e st:

1.

Co lle c t AGC d a ta using pa ylo a d

2.

Ga the r ine rtia l d rift d a ta fro m sta tic te sts, g ro und te st, a nd flig ht te st.

3.

L

• c a lize so urc e using

Disc o / T a lo n

75

Ve rific a tio n

1.

Sho w tha t d a ta is a c c ura te AGC d a ta linke d with a g e o g ra phic po sitio n

2.

Pre se nt lo c a liza tio n a c c ura c y

3.

Ana lyze e rro r

4.

Co mpa re to PDOA mo d e l

PAYL OAD DOWNL I NK I NG T E ST S

76

Purpose : T

• unde rsta nd po ssib le da ta ra te s a nd a c c e ss c o lle c te d

AGC da ta during a live te st, T

• ve rify re q uire me nts F

R?, F R?, a nd F R?.

• 5 spe e dte st.ne t te sts a t va rio us po sitio ns a t te sting lo c a tio n to

de te rmine da ta ra te s

• Do wlinking te st to e nsure pro pe r da ta tra nsfe r MZ -> se rve r ->

g ro und c o mpute r Co mpo ne nts

• GPS Ante nna a nd Sig na l F

ilte r

• Mic ro c o ntro lle r a nd USB Drive
• Ba tte ry Pa c k

Downlinking : Uplo a d AGC da ta re c e ive d to a we b se rve r a nd

do wnlo a d o nto a g ro und c o mpute r

• 4G L

T E Mo de m

• Gro und Co mpute r

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

PI XHAWK / MI CROZE D I NT E RF ACE T E ST S

77 77

Simula te d G PS Switc h

Re c e ive s: T ime [ms], L a t [d e g ], L

• n [d e g ],

Alt [mm] (fro m USB lo g file )

Successfully able to send/ r eceive c or r ec t data

Re c e ive s: T ime [s], Re lia b ility o n GPS L 1 L 2

to mic ro c o ntro lle r to flig ht c o ntro lle r

PAYL OAD AGC CHARACT E RI ZAT I ON T E ST S

GPS da ta c o lle c te d fo r 60 minute s:

• T

e st run a t the L

• c khe e d

Ma rtin Co nfe re nc e ta b le

• Ca n lo g da ta fo r 60

minute s Purpo se :

• Cha ra c te rize GPS da ta
• E

nsure da ta c a n b e lo g g e d fo r 60 minute s.

78

60-minute T e st

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

I NE RT I AL SE NSOR I NT E GRAT I ON T E ST

Objective

• Ve rify I

MU is c a pa b le o f inte rfa c ing with PixHa wk in Auto pilo t Descr iption

• 10 minute a uto no mo us flig ht a t CU So uth Bo uld e r
• T

ria ng ula r pa tte rn o ve r 300 m a re a . Measur ements

• GPS po sitio n a nd e stima te d po sitio n d a ta re c o rd e d
• nb o a rd PixHa wk flig ht c o ntro lle r
• NE

D c o o rd ina te s d ire c tly fro m GPS

• NE

D c o o rd ina te e stima te d fro m K a lma n F ilte r with ne w I MU input

79

DMU 11

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

I NE RT I AL SE NSOR I NT E GRAT I ON T E ST

Re sult

• Gro und tra c k e stima te d b y

E K F (g ive n ine rtia l se nso r me a sure me nts) a lig ns with GPS g ro und tra c k

80

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

F R 2: T HE UAS SHAL L BE CAPABL E OF F L YI NG I N 30 K PH WI NDS

De sc r iption

• 14 minute flig ht c o nduc te d in

winds a ve ra g ing 18.2 kph

• Ma ximum wind o f 25.7 kph
• UAS pe rfo rme d fine in the a ir,

tho ug h ha d diffic ultie s with la nding

81

F unc tional R e quir e me nt Validation

F R 2: T

he UAS sha ll b e c a pa b le

• f flying in 30 kph wind s

Par tially Ve r ifie d

I NE RT I AL SE NSOR I NT E GRAT I ON T E ST

Ver ification - Almost

• F

R 3: T he syste m shall fly and navigate in GPS de nie d re gio n fo r a line ar distanc e o f 1 km

• Co nfirm ine rtial drift is unde r 40 m

Confidence

• F

light c o ntro lle r c an inte rfac e with 3rd part ine rtial se nso r

• Capable o f re maining unde r ine rtial drift re quire me nt while GPS

de nie d

82

De sig n Pro je c t Manag e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

PAYL OAD I NT E GRAT I ON DI AGRAM

83

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

Ba tte ry Ante nna Mo d e m Ad a pte r Sig na l Pro c e sso r Mic ro Co ntro lle r USB

Ba tte ry Mic ro Co ntro lle r Sig na l F ilte r Pa ylo a d Struc ture Ce ll Mo de m/ USB Drive Co nne c to r Ante nna Po rt

PAYL OAD F BD

84

RF I Po we r Mo nito ring Ante nna Ce llula r Da ta T ra nsmissio n Mo dule

Monitoring RF I Powe r

Pa ylo a d Ba tte ry Sig na l Mo nito ring Mo dule (NT 1065 Mo dule ) Da ta Pro c e ssing E ng ine (Mic ro Ze d)

Ope ra tiona l Pa yloa d

Mo de m Ada pte r USB Sto ra g e

L e g e nd:

Da ta T ra nsmissio n Po we r T ra nsmissio n Da ta Pro c e ssing Re c e ive r/ T ra nsmissio n Mo dule s Ma de b y T his Pro je c t Give n By Custo me r

PAYL OAD: AGC CHARACT E RI ZAT I ON T E ST S

GPS da ta c o lle c te d fo r thre e sc e na rio s:

• L
• c khe e d Ma rtin

Co nfe re nc e ta b le

• Ope n a re a a wa y fro m RF

I

• UAS g e ne ra te d RF

I Purpo se :

• Cha ra c te rize AGC da ta
• E

nsure da ta c a n b e lo g g e d.

• Suc c e ss is de fining whe n

GPS da ta c a nno t b e truste d

85

5-minute T e sts in Va rio us L

• c a tio ns

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

PROJE CT DE L I VE RABL E S

• Se lf-inte gr

ate d payload c o ntaining c usto me r

pro vide d mic ro pro c e sso r and sig nal filte r

• Modifie d F

light Softwar e allo wing fo r GPS de nie d

flig ht

• F

ully Inte gr ate d UAS with paylo ad and flig ht

so ftware

86

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

SOF T WARE : GE OGRAPHI C F L I GHT MODE SWI T CH

87

GPS DE NI E D Re g io n

}

}

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

GPS DE NI E D PE RF ORMANCE – DRI VI NG T E ST

88

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

SOF T WARE : GPS DE NI E D F I X

89

Driving te st pe rfo rme d in 2 ways to ve rify GPS de nial:

• 1. Physic ally re mo ving GPS mo dule
• 2. So ftware ge o fe nc e

GPS de nial te ste d fo r ~200 se c o nds Re sults:

• Similar e rro r fo r bo th te sts
• 150 me te rs NE

e rro r

• Co nsiste nt with e xpe c te d t2 e rro r

De sig n Pro je c t Manag e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

GPS DE NI E D PE RF ORMANCE

MODE L E ST I MAT I ON I NT E GRAT E D ST AT I C DAT A

90

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

PI XHAWK / MI CROZE D I NT E RF ACE T E ST S

91

Pur pose : T

• pro vide flig ht c o ntro lle r with AGC da ta to e na b le flig ht

mo de switc hing , to re c e ive a nd lo g po sitio n da ta , T

• ve rify

re q uire me nts F

R3, F R6, F R8, a nd F R9.

• Se nd GPS da ta re lia b ility va lue to flig ht c o ntro lle r
• Re c e ive a nd lo g po sitio n da ta fro m mic ro c o ntro lle r

Co mpo ne nts

• GPS Ante nna a nd Sig na l F

ilte r

• Mic ro c o ntro lle r a nd USB Drive
• F

lig ht Co ntro lle r

Inte r fa c ing : 2-wa y se ria l c o mmunic a tio n b e twe e n flig ht/ mic ro c o ntro lle rs

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

92

PI XHAWK / MI CROZE D I NT E RF ACE T E ST S

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w

Mic ro Ze d Mic ro c o ntro lle r Se ria l Po rt Pixha wk Flig ht Co ntro lle r T e le m 2 Po rt Rx T x UART , Ba ud 115200, 8-N-1

T e st Se tup

Re c e ive s: G PS Re lia b ility Re c e ive s: T ime , la t/ lo ng , a ltitud e

Goal

Ha ve flig ht a nd mic ro c o ntro lle rs c o mmunic a te via a se ria l inte rfa c e

Re sult

Suc c e ssfully tra nsmitte d a nd re c e ive d d a ta o n b o th d e vic e s

UAS WI ND PE RF ORMANCE

De sc r iption

• 14 minute flig ht c o nduc te d in

winds ave rag ing 18.2 kph

• Maximum wind o f 25.7 kph
• UAS pe rfo rme d fine in the air,

tho ug h had diffic ultie s with landing

93

F unc tional R e quir e me nt Validation

F R 2: T

he UAS sha ll b e c a pa b le

• f flying in 30 kph winds

Par tially Ve r ifie d

De sig n Pro je c t Ma na g e me nt T e st Ove rvie w T e st Re sults Syste ms E ng ine e ring Ove rvie w